US20150167408A1 - Alignment Apparatus and Method for a Boom of a Pipe Handling System - Google Patents
Alignment Apparatus and Method for a Boom of a Pipe Handling System Download PDFInfo
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- US20150167408A1 US20150167408A1 US14/565,304 US201414565304A US2015167408A1 US 20150167408 A1 US20150167408 A1 US 20150167408A1 US 201414565304 A US201414565304 A US 201414565304A US 2015167408 A1 US2015167408 A1 US 2015167408A1
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- United States
- Prior art keywords
- boom
- arm
- frame
- pipe
- lever
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/126—Handlers with spring devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/48—Counterbalance
Definitions
- the rig has a chassis and power unit for transporting the rig.
- An adjustable platform with a number of hydraulically-operated stabilizers aligns the tubing at the wellhead.
- a mast is pivotable into slanted or vertical positions for coil tubing operation with a blowout preventer and an injector.
- a cradle supports and aligns an injector to the wellhead.
- a coil-tubing reel cartridge assembly is adapted to run coil-tubing reels.
- a winching facility is used to manipulate wireline equipment.
- a control cabin is used to manage rig activities.
- U.S. Pat. No. 6,264,128, issued on Jul. 24, 2001 to Shampine et al. discloses a levelwind system for a coiled-tubing reel that has an arcuate guide arm extending over the upper surface of the reel, a universal joint mounted to the lower end of the arm, a guide member supported on the free end of the guide arm, a lift cylinder for raising and lowering the guide arm, a balancing cylinder for moving the guide arm laterally, and a hydraulic fluid circuit that is responsive to a position sensor and a microprocessor.
- the second line includes a first cable offset from linear alignment with the first line and a second cable extending in angular relationship with the first cable.
- Each of the first and second cables has an end affixed to the frame.
- a connector member is affixed to an opposite end of the first and second cables.
- the opposite end of the first line is connected to the connector member.
- the actuator means is connected to the connector member.
- the first cable extends in an inverted V-shaped orientation relative to the second cable.
- the actuator means includes a piston-and-cylinder assembly having one end connected to the frame and an opposite end interconnected to the first and second lines.
- the piston-and-cylinder assembly extends in angularly offset relationship to the first and second lines.
- the piston-and-cylinder assembly is movable between a first position in which the first and second lines are untensioned and the second position in which the first and second lines are tensioned.
- Pipe handling system 10 is substantially similar as described above.
Abstract
Description
- 1. Field of the Invention
- The present invention relates to the handling of tubulars from a horizontal orientation to a vertical orientation. Particularly, the present invention relates to a pipe handling apparatus that positions tubulars in a wellhead. More particularly, the present invention relates to apparatus for adjusting a position of a boom of the pipe handling apparatus when positioning tubulars at a wellhead.
- 2. Description of Related Art Including Information Disclosed Under 37 CFR 1.97 and 37 CFR 1.98
- Drill rigs have utilized several methods for transferring tubular members from a pipe rack adjacent to the drill floor to a mousehole in the drill floor or the well bore for connection to a previously transferred tubular or tubular string. The term “tubular” as used herein includes all forms of pipe, drill pipe, drill collars, casing, liner, bottom hole assemblies (BHA), and other types of tubulars known in the art.
- Conventionally, drill rigs have utilized a combination of the rig cranes and the traveling system for transferring a tubular from the pipe rack to a vertical position above the center of the well. The obvious disadvantage with the prior art systems is that there is a significant manual involvement in attaching the pipe elevators to the tubular and moving the pipe from the drill rack to the rotary table at the wellhead. This manual transfer operation in the vicinity of workers is potentially dangerous and has caused numerous injuries in drilling operations. Further, the hoisting system may allow the tubular to come into contact with the catwalk or other portions of the rig as the tubular is transferred from the pipe rack to the drill floor. This can damage the tubular and may affect the integrity of the connections between successive tubulars in the well.
- In the past, various devices have been created which mechanically move a pipe from a horizontal orientation to a vertical orientation such that the vertically-oriented pipe can be installed into the well bore. Typically, these devices have utilized several interconnected arms that are associated with a boom. In order to move the pipe, a succession of individual movements of the levers, arms, and other components of the boom must be performed in a coordinated manner in order to achieve the desired result. Typically, a wide variety of hydraulic actuators are connected to each of the components so as to carry out the prescribed movement. A complex control mechanism is connected to each of these actuators so as to achieve the desired movement. Advanced programming is required of the controller in order to properly coordinate the movements in order to achieve this desired result.
- Unfortunately, with such systems, the hydraulic actuators, along with other components, can become worn with time. Furthermore, the hydraulic integrity of each of the actuators can become compromised over time. As such, small variations in each of the actuators can occur. These variations, as they occur, can make the complex mechanism rather inaccurate. The failure of one hydraulic component can exacerbate the problems associated with the alignment of the pipe in a vertical orientation. Adjustments of the programming are often necessary so as to continue to achieve the desired results. Fundamentally, the more hydraulic actuators that are incorporated into such a system, the more likely it is to have errors, inaccuracies, and deviations in the desired delivery profile of the tubular. Typically, very experienced and knowledgeable operators are required so as to carry out this pipe movement operation. This adds significantly to the cost associated with pipe delivery.
- To address these problems and needs, U.S. application Ser. No. 11/923,451, filed on Oct. 24, 2007 by the present applicant, discloses a pipe handling system that has a boom pivotally movable between a first position and a second position, a riser assembly pivotally connected to the boom, an arm pivotally connected at one end to the first portion of the riser assembly and extending outwardly therefrom, a gripper affixed to an opposite end of the arm suitable for gripping a diameter of the pipe, a link pivotally connected to the riser assembly and pivotable so as to move relative to the movement of the boom between the first and second positions, and a brace having one end pivotally connected to the boom and an opposite end pivotally connected to the arm between the ends of the arm. The riser assembly has a first portion extending outwardly at an obtuse angle with respect to the second portion.
- The pipe handling system delivers a pipe to a wellhead when in the second position. Pipes can be of extraordinary lengths and weights. The boom of the above pipe handling system is pivotally connected to a skid so as to pivot between the first and second positions. Pipes can be of extraordinary lengths and weights; therefore, the pivotal connection between the boom and skid must be strong so as to withstand the forces created by the movement of the boom between the first and second positions. Typically, hydraulic cylinders are placed between the boom and skid so as to raise and lower the boom between the first and second positions. The hydraulic cylinders are connected to a hydraulic power system so as to raise and lower the boom between the first and second positions.
- Various patents have issued relating to the movement of a boom of a pipe handling system with hydraulic cylinders or other similar means. For example, U.S. Pat. No. 7,077,209, issued on Jul. 18, 2006 to McCulloch et al., discloses a mast for lifting and suspending a coiled tubing injector and blowout preventer over a wellhead that is pivotally mounted on a rear portion of a truck. The mast has two side-by-side telescoping legs that extend and retract synchronously. Hydraulic cylinders pivotally move the mast between a lower position and an upper position.
- U.S. Pat. No. 4,336,840, issued on Jun. 29, 1982 to Bailey, discloses a suspension system for use with a mast. The system has two or more fluid pressure piston-and-cylinder assemblies. The cylinders are linked in pairs so that retraction of both piston rods reduces the length of the pair of assemblies to the length of a single assembly. Operation of both pistons in a pair provides an effective stroke twice the length of a single assembly stroke. In a particular embodiment, a double-cylinder system is used as a pickup system for elevating equipment along a mast in a well work over rig.
- U.S. Pat. No. 7,289,871, issued on Oct. 30, 2007 to Williams, discloses a drilling apparatus that has a base from which a drilling arm is pivotally mounted. The drilling arm has an inner arm and an outer arm. The inner arm has a first end and a second end. The first end is pivotally connected by a first pivot joint to the base. The outer arm has a first end and a second end. The second end of the inner arm is pivotally connected via a second pivot joint to the first end of the outer arm. A drill-mounting assembly is positioned at the second end of the outer arm. Actuation of the inner and outer arms is achieved by hydraulic cylinders. Proper operation of the cylinders causes the second end of the outer arm to follow a substantially linear path.
- U.S. Pat. No. 6,003,598, issued on Dec. 21, 1999 to Andreychuk, discloses a mobile hybrid rig adapted to run coiled tubing and wireline equipment for oil and gas wells. The rig has a chassis and power unit for transporting the rig. An adjustable platform with a number of hydraulically-operated stabilizers aligns the tubing at the wellhead. A mast is pivotable into slanted or vertical positions for coil tubing operation with a blowout preventer and an injector. A cradle supports and aligns an injector to the wellhead. A coil-tubing reel cartridge assembly is adapted to run coil-tubing reels. A winching facility is used to manipulate wireline equipment. A control cabin is used to manage rig activities.
- U.S. Pat. No. 6,234,253, issued on May 22, 2001 to Dallas, discloses a method and apparatus for servicing a well. The apparatus has a pair of hydraulic cylinders pivotally mounted to a pair of base beams. The cylinders are movable from a horizontal position for transportation to a vertical position for operation. In the vertical position, the cylinders flank a wellhead and are adapted to lift the wellhead and attached production tubing using a workover beam and a lifting sub. The wellhead and production tubing can be rotated during or after elevation. A motor can be mounted to the workover beam to rotate the wellhead and the tubing. A calibrated pressure gauge can be used to indicate the weight being lifted. The apparatus can be connected to a crane truck.
- U.S. Pat. No. 6,264,128, issued on Jul. 24, 2001 to Shampine et al., discloses a levelwind system for a coiled-tubing reel that has an arcuate guide arm extending over the upper surface of the reel, a universal joint mounted to the lower end of the arm, a guide member supported on the free end of the guide arm, a lift cylinder for raising and lowering the guide arm, a balancing cylinder for moving the guide arm laterally, and a hydraulic fluid circuit that is responsive to a position sensor and a microprocessor.
- U.S. Pat. No. 6,431,286, issued on Aug. 13, 2002 to Andreychuk, discloses an injector arrangement for use in a rig that has a movable carrier, a derrick tiltably mounted to the carrier, and a trolley capable of sliding along the derrick. An injector cradle is movable along the trolley in at least a plane perpendicular to the derrick and is pivotally mountable beneath the trolley. An injector is supported at its upper end from the cradle. At least two hydraulic cylinders are supported at one end by the derrick. The cylinders are engaged at an opposed end to a lower end of the injector.
- In the pipe handling system of U.S. application Ser. No. 11/923,451, filed on Oct. 24, 2007, by the present applicant, it was found that fine adjustments of the boom could be necessary so as to precisely align the pipe with the wellhead. Also, it was found desirable to properly tension the boom during movement of the boom between the stowed position to the deployed position.
- It is an object of the present invention to provide an alignment device for a boom that provides fine adjustments to the boom and the associated pipe.
- It is another object of the present invention to provide an alignment device that can selectively tension the boom during movement and positioning of the boom.
- It is another object of the present invention to provide an alignment device that can be easily applied to the boom and easily operated.
- It is still another object of the present invention to provide an alignment device that can be remotely operated and automatically controlled.
- These and other objects and advantages of the present invention will become apparent from a reading of the attached specification and appended claims.
- The present invention is an alignment apparatus for a boom of a pipe handling device having a first line with a first end suitable for connection to the boom, a second line having an end connected to the first line, and an actuator means interconnected to at least one of the first and second lines for changing an angular relationship between the first and second lines. A connector member is connected to an end of the first line and to the end of the second line. The actuator means is cooperative with the connector member. In the preferred embodiment of the present invention, the connector member is a ring.
- The second line has an opposite end suitable for connection to a fixed surface away from the boom. In particular, the second line includes a first cable offset from linear alignment with the first line and a second cable extending in angular relationship to the first cable.
- The actuator means comprises a hydraulic piston-and-cylinder assembly having one end affixed to a fixed surface and an opposite end interconnected to the first and second lines. The hydraulic actuator extends in angularly offset relationship to the first and second lines. This actuator means is movable between a first position in which the first and second lines are untensioned and a second position in which first and second lines are tensioned.
- The present invention is also a pipe handling device that comprises a frame, a boom pivotally connected to the frame so as to be movable between a first position and a second position, an arm extending outwardly of the boom when the boom is in the second position, a first line having a first end affixed to the boom, a second line interconnected to an opposite end of the first line and interconnected to the frame, and an actuator means interconnected to the first and second lines. The actuator means serves to change an angular relationship of the first and second lines so as to selectively tension the first and second lines. The arm has a gripper at an end thereof opposite the boom so as to receive a tubular therein.
- In the present invention, the second line includes a first cable offset from linear alignment with the first line and a second cable extending in angular relationship with the first cable. Each of the first and second cables has an end affixed to the frame. A connector member is affixed to an opposite end of the first and second cables. The opposite end of the first line is connected to the connector member. The actuator means is connected to the connector member. The first cable extends in an inverted V-shaped orientation relative to the second cable. The actuator means includes a piston-and-cylinder assembly having one end connected to the frame and an opposite end interconnected to the first and second lines. The piston-and-cylinder assembly extends in angularly offset relationship to the first and second lines. The piston-and-cylinder assembly is movable between a first position in which the first and second lines are untensioned and the second position in which the first and second lines are tensioned.
- The boom has a first end pivotally connected to the frame. The arm is pivotally connected to an opposite end of the boom. The first end of the first line is affixed to the boom between the first and second ends of the boom. A hydraulic actuator has an end connected to the frame and an opposite end connected to the boom. The hydraulic actuator is suitable for moving the boom between the first and second positions. The first and second lines of the actuator means are positioned on an opposite side of the boom from the hydraulic actuator. The piston-and-cylinder assembly has a piston rod with an end connected to the connector member and a cylinder having an end opposite the piston rod connected to the frame. A lever member is pivotally connected to an end of the boom opposite the frame. The arm is pivotally connected to the lever member. A link has one end pivotally connected to the frame and an opposite end pivotally connected to an end of the lever member opposite the arm. The gripper is affixed to the end of the arm opposite the lever member.
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FIG. 1 shows a side elevational view of the preferred embodiment of the apparatus of the present invention as used on a pipe handling system. -
FIG. 2 shows a side elevational view of the preferred embodiment of the apparatus of the present invention as used on a pipe handling system, with the system in a first position. -
FIG. 3 shows a side elevational view of the apparatus of the present invention as used on the pipe handling system, with the pipe handling system moving from the first position toward a second position. -
FIG. 4 shows a side elevational view of the apparatus of the present invention as used on a pipe handling system, with the pipe handling system moving further towards the second position. -
FIG. 5 shows a side elevational view of the apparatus of the present invention as used on a pipe handling system, with the pipe handling system in the second position. -
FIG. 6 shows an isolated perspective view of the preferred embodiment of the apparatus of the present invention attached to the boom of the pipe handling system. -
FIG. 7 shows a side elevational view of the preferred embodiment of the apparatus of the present invention. -
FIG. 8 shows a side elevational view of an alternate embodiment of the apparatus of the present invention as used on a pipe handling system. -
FIG. 9 shows an isolated view of a rocker-arm-adjustment mechanism. - Referring to
FIG. 1 , there is shown a side elevational view of the preferred embodiment of theapparatus 100 of the present invention as used with apipe handling system 10. Thepipe handling system 10 is mounted on a frame 12 (such as a skid) that can be supported upon thebed 14 of a vehicle, such as a truck. Thepipe handling system 10 includes aboom 16 that is pivotally movable between a first position and a second position relative to aframe 12. InFIG. 1 , an intermediate position of thepipe handling system 10 is particularly shown. In this position, thepipe 18 is illustrated in its position prior to installation on thedrill rig 20. Alever assembly 22 is pivotally connected to theboom 16. Anarm 24 is pivotally connected to an end of thelever assembly 22 opposite theboom 16. Agripper assembly 26 is fixedly connected to an opposite end of thearm 24 opposite thelever assembly 22. Thegripper assembly 26 includes a stab frame 28 andgrippers link 34 has one end pivotally connected to theframe 12 and an opposite end pivotally connected to the end of thelever assembly 22 opposite thearm 24. Abrace 36 is pivotally connected to a small frame member 46 of theboom 16 and also pivotally connected to thearm 24 between thelever assembly 22 and the stab frame 28 ofgripper assembly 26. - Referring momentarily to
FIG. 6 , the preferred embodiment of theapparatus 100 of the present invention has afirst line 104 connected to theboom 16 of thepipe handling system 10. Asecond line arrangement 107 is connected to an end of thefirst line 104 opposite theboom 16. Thesecond line arrangement 107 has afirst cable 106 connected to thefirst line 104. Asecond cable 108 is connected to thefirst line 104. Anactuator 102 is connected to thefirst line 104. An end of theactuator 102 opposite thefirst line 104 is connected to theframe 12. An end of thesecond cable 108 opposite thefirst line 104 is connected to theframe 12. An end of thefirst cable 106 opposite thefirst line 104 is connected to theframe 12. Thefirst cable 106 is connected to thefirst line 104 by a connector member, such asjunction ring 110. Thesecond cable 108 is connected to thefirst line 104 by thejunction ring 110. Theactuator 102 is connected to thefirst line 104 byjunction ring 110. Thefirst line 104, thefirst cable 106, thesecond cable 108, and theactuator 102 are of appropriate lengths so that theapparatus 100 is tensioned when theboom 16 is in the second position. Theactuator 102 may be a hydraulic cylinder, a screw or a turnbuckle. InFIG. 6 , theactuator 102 is a hydraulic cylinder. The hydraulic cylinder can be actuated so as to move a piston rod inwardly or outwardly of the cylinder. Theactuator 102 varies the alignment of theboom 16 so as to vary the alignment of a pipe held by theboom 16, and thepipe handling system 10, over a wellhead. Theapparatus 100 can finely adjust the position of theboom 16. For example, if theapparatus 100 is positioned to a side of theboom 16, then theapparatus 100 would align the boom laterally with respect to the wellhead. If theapparatus 100 were positioned in front or behind theboom 16, then the boom would be aligned forward or backward of the wellhead. Thusly, theapparatus 100 may apply a tension to theboom 16, and may cause forward, backward and lateral movement to theboom 16. -
FIG. 2 illustrates thedrill pipe 18 in a generally horizontal orientation. In the present invention, it is important to note that the drill pipe can be delivered to theapparatus 10 in a position below theboom 16. In particular, the drill pipe can be loaded upon theframe 12 in a location generally adjacent to thegrippers gripper assembly 26. As such, the present invention facilitates the easy delivery of the drill pipe to the desired location. Thegrippers pipe 18 in this horizontal orientation. - In
FIG. 2 , it can be seen that theboom 16 resides above thedrill pipe 18 and in generally parallel relationship to the top surface of theskid 12. Thelever assembly 22 is suitably pivoted so that thearm 24 extends through the interior of the framework of theboom 16 and such that thegripper assembly 26 engages thepipe 18. Thebrace 36 resides in connection with the small frame member 46 of theboom 16 and also is pivotally connected to thearm 24. In this position, thelink 34 will reside below theboom 16 generally adjacent to the upper surface of theskid 12 and is connected to thesecond portion 50 of thelever assembly 22 below theboom 16. -
FIG. 3 shows an intermediate position of thedrill pipe 18 during the movement from the horizontal orientation to the vertical orientation. As can be seen, thegripper assembly 26 has engaged with thepipe 18. Thelever assembly 22 is pivoting so that thetop end 79 ofpipe 18 will pass through the interior of the framework of theboom 16. Also, thearm 24 associated with thegripper assembly 26 serves to move the stab frame 28 of thegripper assembly 26 through the interior of the framework of theboom 16. Thebrace 36 is pulling on thefirst portion 48 oflever assembly 22 so as cause this motion to occur. Thelink 34 is pulling on the end of thesecond portion 50 of thelever assembly 22 so as to draw thefirst portion 48 upwardly and to cause the movement of the body 28 of thegripper assembly 26. Thehydraulic actuators boom 16 pivotally upwardly. -
FIG. 4 shows a further intermediate movement of thedrill pipe 18. Once again, thehydraulic actuators boom 16 angularly upwardly away from the top surface of theframe 12. This causes thelink 34 to have a pulling force on thepivotal connection 68 of thesecond portion 50 of thelever assembly 22. This causes thefirst portion 48 of thelever assembly 22 to move upwardly thereby causing thearm 24, in combination with thebrace 36, to lift thegripper assembly 26 further upwardly and draw thepipe 18 completely through the interior of theboom 16. As can be seen, the relative size and relation of the various components of the present invention achieve the movement of thepipe 18 without the need for separate hydraulic actuators, apart fromhydraulic actuators -
FIG. 5 illustrates thedrill pipe 18 in its vertical orientation. As can be seen, thedrill pipe 18 is positioned directly above the underlyingpipe 62 on thedrilling rig 20. The further upward pivotal movement of theboom 16 is caused by thehydraulic cylinders link 34 to rotate and draw the end of thesecond portion 50 of thelever assembly 22 downwardly. Thelever assembly 22 rotates about thepivot point 40 such that thefirst portion 48 of thelever assembly 22 has apivot 72 at an end of thefirst portion 48. Thebrace 36 is now rotated in a position so as to provide support for thearm 24 in this upper position. Thegripper assembly 26 hasgrippers bottom end 80 of thepipe 18 and theupper end 82 ofpipe 62, then thevehicle 14 can be moved slightly so as to achieve further precise movement. In the manner described hereinbefore, thedrill pipe 18 has achieved a completely vertical orientation by virtue of the interrelationship of the various components of the present invention and without the need for complex control mechanisms and hydraulics. - In order to install the
drill pipe 18 upon thepipe 62, it is only necessary to vertically translate thegrippers gripper assembly 26. As such, theend 80 can be stabbed into thebox connection 82 ofpipe 62. Suitable tongs, spinners, or other mechanisms can be utilized so as to rotate thepipe 18 in order to achieve a desired connection. Thegrippers pipe 18 and returned back to the original position such that another length of drill pipe can be installed. - Returning to
FIG. 7 , there is shown an isolated view of the preferred embodiment of theapparatus 100 of the present invention. InFIG. 7 , theactuator 102 of theapparatus 100 may be ahydraulic cylinder 101. Thehydraulic cylinder 101 may be connected to ahydraulic power supply 103. Thehydraulic power supply 103 transfers hydraulic fluid to and from thehydraulic cylinder 101 via ahydraulic fluid line 105 so as to increase and decrease the length of theactuator 102. - In
FIG. 7 , it can be seen that thefirst line 104 is connected, at one end, to thejunction ring 110.First cable 106 andsecond cable 108 each have one end fixedly connected to theframe 12 and an opposite end connected to thejunction ring 110. Thefirst cable 106 and thesecond cable 108 may extend in an inverted V-shaped angular relationship to each other. In a preferred embodiment, theactuator 102 may have apiston rod 109 that has an end connected to thejunction ring 110. Theactuator 102 has an opposite end connected to theframe 12. When thehydraulic power supply 103 introduces hydraulic fluid into thehydraulic cylinder 101 via thehydraulic fluid 105, thepiston rod 109 can be pushed outwardly so as to change the angular relationship between thefirst line 104 and thefirst cable 106 and thesecond cable 108. When thepiston rod 109 of theactuator 102 is pulled inwardly, a different angular orientation between thefirst line 104 and thefirst cable 106 andsecond cable 108 is achieved. In the position shown inFIG. 7 , the relationship between thefirst line 104 and thefirst cable 106 and thesecond cable 108 is relatively untensioned. However, by the movement of thepiston rod 109 of theactuator 102, along with the movement of thejunction ring 110, the angular orientation can be changed so as to properly tension thefirst line 104, thefirst cable 106 and thesecond cable 108. As a result, by relatively small movements of thejunction ring 110, thefirst line 104, thefirst cable 106 and thesecond cable 108, fine adjustments of theboom 16 may be achieved. As a result, theapparatus 100 may enable an operator to finely adjust the position of the tubular 18 as held by thegrippers pipe handling system 10. Theapparatus 100 may also allow an operator to selectively tension theboom 16 of thepipe handling system 10. - Various techniques, such as laser measurement, can be utilized so as to properly orient the
pipe 18 with the wellhead. In this manner, proper signals can be transmitted to thehydraulic power supply 103 so as to manipulate theactuator 102 for the fine adjustment of theboom 16. - The present invention also allows additional tension to be applied to the boom. In certain circumstances, the weight of the load carried by the grippers of the pipe handling apparatus may cause certain movements or deflections of the
boom 16. By placing thefirst line 104, along with thefirst cable 106 and thesecond cable 108, into a properly tensioned condition, theboom 16 may achieve proper strength so as to avoid such deflections and movements. Additionally, through the use of theapparatus 100 of the present invention, the actual weight of the components of thepipe handling system 10 of the present invention may be reduced since proper tensioning can be achieved without the need for heavy structural components. - Referring to
FIG. 8 , an alternate system 200 for providing alignment and tensioning exemplified onpipe handling system 10.Pipe handling system 10 is substantially similar as described above. - System 200 comprises a pair of arm-
tensioning mechanisms 210. Each arm-tensioning mechanism 210 comprises upper line 212. Upper line 212 is connected to arm 24 at one end and connected to tensioningdevice 214 at its other end.Tensioning device 214 may be a hydraulic cylinder, tension-spring mechanism, or other means for providing tension. Optionally, each arm-tensioning mechanism 210 comprises stiffeningbrace 218, which is connected to the upper end oftensioning device 214.Tensioning device 214 and stiffeningbrace 218 are connected to frame 12 at their distal end. Preferably,tensioning device 214 is connected to frame 12 via jack screws 216, which permit fine adjustments of arm-tensioning mechanism 210. Arm-tensioning mechanism 200 is pivotally connected to frame 12, which permits rotation whenboom 16 is moved from a stowed to a deployed position. - A pair of boom-lateral-
adjustment mechanisms 240 is provided. Each boom-lateral-adjustment mechanism 240 comprises boom-lateral-adjustment line 242, which is connected at one end to theupper portion 38 ofboom 16 and connected at the other end to frame 12. Preferably, each boom-lateral-adjustment line 242 is connected to frame 12 via jack screw 244, which permit fine adjustments. Boom-lateral-adjustment mechanisms 240 advantageously allow the lateral angle ofboom 16 to be adjusted up to 2 degrees or more. - Referring to
FIG. 9 , rocker-arm-adjustment mechanism 230 is illustrated inpipe handling system 10 with the exterior components ofpipe handling system 10 removed. Rocker-arm-adjustment mechanism 230 comprisesrocker arm 232, which is connected to frame 12 viajack screw 234 at one end. The other end ofrocker arm 232 is connected to link 34, which in turn is connected to leverassembly 22, which in turn is connected toarm 24. Rocker-arm-adjustment mechanism 230 permits adjustment of the angle of pipe being carried. - The foregoing disclosure and description of the invention is illustrative and explanatory thereof. Various changes in the details of the illustrated construction and method can be made without departing from the true spirit of the invention. The present invention should only be limited by the present specification and appended claims.
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US14/565,304 US9556689B2 (en) | 2009-05-20 | 2014-12-09 | Alignment apparatus and method for a boom of a pipe handling system |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/469,598 US8192128B2 (en) | 2009-05-20 | 2009-05-20 | Alignment apparatus and method for a boom of a pipe handling system |
US13/489,358 US8905699B2 (en) | 2009-05-20 | 2012-06-05 | Alignment apparatus and method for a boom of a pipe handling system |
US14/565,304 US9556689B2 (en) | 2009-05-20 | 2014-12-09 | Alignment apparatus and method for a boom of a pipe handling system |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US13/489,358 Continuation-In-Part US8905699B2 (en) | 2009-05-20 | 2012-06-05 | Alignment apparatus and method for a boom of a pipe handling system |
Publications (2)
Publication Number | Publication Date |
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US20150167408A1 true US20150167408A1 (en) | 2015-06-18 |
US9556689B2 US9556689B2 (en) | 2017-01-31 |
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US14/565,304 Active 2029-08-01 US9556689B2 (en) | 2009-05-20 | 2014-12-09 | Alignment apparatus and method for a boom of a pipe handling system |
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CN109083606A (en) * | 2018-10-09 | 2018-12-25 | 鼎实智能装备(青岛)有限公司 | A kind of drilling and repairing well suspension type comb manipulator |
CN112938741A (en) * | 2021-01-29 | 2021-06-11 | 军事科学院系统工程研究院军事新能源技术研究所 | Pipe lifting appliance, pipe lifting equipment, pipeline operation vehicle and using method |
US20220003055A1 (en) * | 2020-07-06 | 2022-01-06 | Canrig Robotic Technologies As | Robotic pipe handler systems |
US11767719B2 (en) | 2020-09-01 | 2023-09-26 | Canrig Robotic Technologies As | Robotic pipe handler |
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US10544634B2 (en) | 2015-05-01 | 2020-01-28 | Veristic Technologies, Inc. | Pipe handling device |
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